cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall   -O3  -march=native")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3  -march=native")
# set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE}")
# set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")

SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -march=native")
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native")

# Check c++17 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX17)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
   add_definitions(-DCOMPILEDWITHC17)
   message(STATUS "Using flag -std=c++17.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no c++17 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 4.2 QUIET)
if(NOT OpenCV_FOUND)
    message(FATAL_ERROR "OpenCV = 4.2 not found.")
endif()

message(STATUS "OpenCV DIR:  ${OpenCV_DIR}")
message(STATUS "OpenCV library status:")
message(STATUS "    version: ${OpenCV_VERSION}")
message(STATUS "    libraries: ${OpenCV_LIBS}")
message(STATUS "    include path: ${OpenCV_INCLUDE_DIRS}")

find_package(Eigen3 3.4.0 REQUIRED NO_MODULE)
find_package(Pangolin REQUIRED)

message(STATUS "Pangolin library status:")
message(STATUS "    version: ${Pangolin_VERSION}")
message(STATUS "    libraries: ${Pangolin_LIBS}")
message(STATUS "    include path: ${Pangolin_INCLUDE_DIRS}")

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${Pangolin_INCLUDE_DIRS}
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
)

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
)

# Build examples

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

# ---------------
# Installation instructions.
# Will install to CMAKE_INSTALL_PREFIX
# This defaults to /usr/local/, specify -DCMAKE_INSTALL_PREFIX when calling cmake to specify an alternate location
# e.g. cmake -DCMAKE_INSTALL_PREFIX="~/local"
# ---------------

install(TARGETS ${PROJECT_NAME}
    DESTINATION  lib
    COMPONENT library)
install(FILES
        ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
        ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
    DESTINATION lib
    COMPONENT library)
install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/
    DESTINATION include/ORB_SLAM2
    COMPONENT library
    FILES_MATCHING PATTERN "*.h"
    PATTERN "Thirdparty" EXCLUDE)
install(DIRECTORY ${PROJECT_SOURCE_DIR}/Thirdparty/
    DESTINATION include/ORB_SLAM2/Thirdparty
    COMPONENT library
FILES_MATCHING REGEX ".*\\.h(pp)?")

